CN109075729A - System and method for integrated control system of diesel generator set - Google Patents
System and method for integrated control system of diesel generator set Download PDFInfo
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B63/00—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices
- F02B63/04—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices for electric generators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/08—Introducing corrections for particular operating conditions for idling
- F02D41/083—Introducing corrections for particular operating conditions for idling taking into account engine load variation, e.g. air-conditionning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D41/1404—Fuzzy logic control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G05B19/0425—Safety, monitoring
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/141—Introducing closed-loop corrections characterised by the control or regulation method using a feed-forward control element
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/02—Details of the control
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- Fuzzy Systems (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
An integrated control system and method for improving load application/rejection performance of a diesel generator set is disclosed. Feedback linearization control is used for voltage regulation, removing the interaction between automatic voltage regulation and speed regulation. An appropriate feed forward signal is sent to the governor using load anticipation control. Integrated control may reduce engine speed and voltage deviations. It is implemented in the voltage regulator because it recognizes the load change prior to the engine. The integrated control facilitates predictive throttle (throttle) adjustments of the engine before the engine recognizes a load. Test results show that engine speed recovery is improved after a large increase or decrease in load.
Description
Cross reference to related applications
The U.S. Provisional Patent Application No.62/299 submitted this application claims on 2 25th, 2016,744 priority,
Disclosure is incorporated herein by reference in their entirety.
Technical field
This disclosure relates to alternating current generator, and more particularly, to the integrated control system for diesel generating set
System and method.
Background technique
Generating set (genset) be used for be include that main power source, spare power generation and the distributed generation system of network support mention
For electric power.Electric public service it is deregulated the result is that many clients improve electric power using its standby diesel-generator unit
Quality avoids the peak electricity charge.
Generating set is usually by diesel engine, synchronous machine and two controller (governor and automatic voltage regulator) groups
At.Synchronous machine uses field spider.Fig. 1 shows 20 generating set of prior art systems arrangement.The basic module packet of system 20
Include the component being also designated with like numbers in Fig. 2.These components include generator 28, exciter (exciter) 26, automatic
Voltage regulator (AVR) 22, amplifier 24, governor 30 and its relevant petrolift 32.Governor 30 is for remaining constant
Alternator speed ω 52.The variation that governor 30 responds alternator speed ω 52 controls petrolift 32 to serve as feedback controller
Combustion rate, thus minimize as generating set actual power load suddenly change caused by deviation.
In Fig. 1, Vref34 be generator voltage reference, Vt36 be generator voltage and EfdIt is that exciter 26 is encouraged
Magnetoelectricity pressure (field voltage) 37.Pe40 indicate from Vt 2The actual power load that/R is determined, wherein R is ohmic load.This
Outside, in 1/2H 42, H indicates total rotary inertia of diesel engine and generator rotary part, Tm44 indicate about diesel oil
The machine torque of engine and generator rotary part, Tf46 indicate that the friction of diesel engine and generator rotary part turns
Square, Tmax48 indicate the torque capacity rotated about diesel engine and generator and ωref50 be alternator speed ginseng
It examines and ω 52 indicates alternator speed." s " in 1/s box 54 is that Laplace operator (is also illustrated as sometimes in entire figure
“S”)。
AVR 22 is by by generator voltage Vt36 refer to V with generator voltageref34 are added 56, by by anti-
Feedback control is to control the exciting current of exciter 26, thus the generator voltage kept constant.By the way that generator is exported
Voltage, which is multiplied with alternator speed ω 52,58 determines generator voltage Vt36.The AVR based on microprocessor in some modern times
By being realized for stable proportional integral differential (PID) control and various replenishment control systems.This known digital governer
PID controller 23 is used in forward path, as Fig. 1 prior art systems 20 are diagrammatically shown.This PID control can be
It is realized in AVR.This prior art generating set as shown in Figure 1 includes limiter, variable/power factor controller, tuning
Function, protection and monitoring feature, as disclosed in following article: K.Kim, M.J.Basler and A.Godhwani,
" Supplemental Control in a Modern Digital Excitation System ", IEEE Power
Engineering Society Winter Meeting 2000, Singapore.
Actual power load Pe 40 is fed to velocity control loop by 1/ ω 52, as shown in block 60.Alternator speed
The nominal value of ω 52 is every unit 1.0.1/ ω box 60 illustrates the list slave electrical power to torque for velocity control loop
Position conversion.Velocity control loop is by referring to ω from alternator speedref62 alternator speed ω 52 are subtracted in 50 to provide hair
The feedback control of motor speed ω 52.
Different from large-scale generator, many generating sets are estimated to become full from non-loaded for operation in single step load application
Load.This may cause the stalling of the big variation or engine of alternator speed ω 52.
The unexpected of generating set actual power load increases the load torque increase that will lead to engine.Due to load torque
Torque and engine governor more than engine cannot make an immediate response, therefore alternator speed ω 52 is reduced.It is detecting
After the reduction of speed, governor increase is supplied to the fuel of engine.Since the voltage of generation is proportional to alternator speed ω 52,
Therefore generator output voltage is reduced due to armature-reaction and builtin voltage decline.Voltage regulator is by increasing encouraging for machine
Magnetoelectricity stream compensates.Fig. 1 is shown through the interaction between voltage and speed control, is had in application ohmic load
Cross-linked simplified generating set model.
International standard ISO8528-5, " Reciprocating Internal Combustion Engine Driven
Alternating Current Generating Sets-Part 5:Specification for Generating
Sets ", 1993, it be used to assess diesel generating set performance.Generating set is classified according to a series of Key Performance Indicators.
For the modern generating set of G2 classification, the maximum voltage deviation relative to nominal set-point that load receives suddenly is not to be exceeded
20%.Maximum electric frequency deviation must not exceed 10%.Voltage recovery time is necessarily less than 6 seconds and the frequency retrieval time is necessary
Less than 5 seconds.It is square proportional due to actual power and voltage, quick acting AVR by snapback voltage significantly
Hinder the recovery of alternator speed ω 52；Therefore engine more multi-load is given.
Reducing the common method that alternator speed ω 52 declines is to provide additional voltage dip during dropping at speed
(voltage dip).This can accelerate the recovery of engine by reducing actual power.Various electricity are used in modern AVR
Press set point adjustment (under-frequency scheme).Also suggest in following article adjustment of load module (LAM): K.D.Chambers,
D.J.McGowan and D.J.Morrow, " A Digital Load Relief Scheme for a Diesel Generating
Set " .IEEE Transactions on Energy Conversion, Vol.13, No.2, June 1998, whole passes through
It is incorporated herein by reference, voltage is temporarily reduced during transient state, and therefore facilitate the recovery of alternator speed ω 52.However,
Governor changes slowly the reaction that alternator speed ω 52 changes more than actual power.In addition, voltage loop is by speed responsive
It influences, because generator voltage is proportional to alternator speed.
As mentioned above, in gen-set control system, AVR 22 provides voltage adjusting and governor 30 in generator
The speed of engine is controlled when the mode operation of the island Zu Yi.However, traditional PRACTICE OF DESIGN is independent design AVR and governor, i.e.,
Make to be also in this way, as shown in Figure 1 in the presence of interaction between voltage and speed control.Therefore, it can usually generate and ask in the presence of this
The case where topic (such as during the Factory load Acceptance Test of the generating set of manufacture).
Non-linear effects of the engine performance by the speed of service and load variation.It introduces and considers smog and torque limit figure
The Supervised Control of (limit map), such as discusses in following publication: A.R.Cooper, D.J.Morrow and
K.D.R.Chambers, " Development of a Diesel Generating Set Model for Large
Voltage and Frequency Transients ", IEEE Transactions on Energy Conversion,
Vol.13, No.2, June 1998.It is nonlinear for responding to the alternator speed ω 52 of big actual loading, it is also by electricity
The influence for pressing regulator response, as in the publication of the Cooper and the discussion in following: Seung-Hwan Lee,
Jung-Sik Yim, Joon-Hwan Lee and Seung-Ki Sul, " Design of Speed Control Loop of A
Variable Speed Diesel Engine Generator by Electric Governor,"Industry
Applications Society Annual Meeting, 2008.IAS ' 08.IEEE, pp.1-5,2008.
When the big actual power load of application, alternator speed is reduced, and therefore generator voltage also reduces.So
Engine fuel is increased to maximum by governor, and AVR increases excitation voltage will be held to maintain rated value.The reaction of AVR
Speed is set temporarily to drop and restore to deteriorate.
Traditional control system and method is realized by coordinating the compromise between alternator speed ω 52 and voltage deviation
Various under-frequency characteristics are to improve speed ability.Unfortunately, the parameter of this method is obtained to obtain required performance not
It is easy.Even if gen-set control system due to 52 loop of generator voltage and alternator speed ω interaction and become non-
Linearly, AVR is also based on linear mode design.So may cause generator speed using the control output based on linear mode
Overshoot in degree and voltage regulation loop.
Summary of the invention
That application discloses a kind of integrated control system and method, nominal load is being applied or removed to the system and method
The cross-couplings item between voltage and velocity control loop is decoupled when (rated load).The integrated control system is disclosed including inciting somebody to action
Cross-couplings item removes to modified feedback linearization control (FLC) subsystem in voltage regulation loop.The integrated control system and side
Method is by FLC subsystem and expected control (LAC, the also referred to as LAF) subsystem of load together with method integration.LAC subsystem and
Method and FLC integrally work to be effectively reduced 52 deviation of alternator speed ω.
Detailed description of the invention
Fig. 1, which is shown in application limitation load, cross-linked simplified generating set model；
Fig. 2 shows be suitable for integrated control system and method according to the various embodiments of gen-set control system
The block diagram of computer system, it discloses the present invention, including accoding to exemplary embodiment for being expected control (LAC) with load
The signal path of integrated modified feedback linearization control (FLC) subsystem of subsystem；
It includes the meter for being suitable for integrated control system and method that Fig. 3 (a), which is shown according to various embodiments of the present invention,
The schematic diagram of calculation machine system, it illustrates the examples of FLC subsystem accoding to exemplary embodiment；
It includes the computer system for being suitable for integrated control system and method that Fig. 3 (b), which is shown according to various embodiments,
Schematic diagram, it illustrates the examples of expected control (LAC) subsystem of load accoding to exemplary embodiment；
Fig. 4 (a) is the curve graph for showing the voltage responsive in test, wherein using actual power load and 0.8PF load,
And 5% voltage step is applied, it illustrates the cross-coupling effects vibrated in voltage loop accoding to exemplary embodiment
It generates；
Fig. 4 (b) is the curve graph for showing the voltage responsive in test, wherein using actual power load and 0.8PF load,
And 5% voltage step is applied, it illustrates the cross-coupling effects vibrated in speed loop accoding to exemplary embodiment
Generation；
Fig. 5 (a) is shown in the test when applying 2% Velocity Step Technique with various loads accoding to exemplary embodiment
Cross-coupling effect, Fig. 5 (a) shows the oscillatory response observed in voltage loop；
Fig. 5 (b) is shown in the test when applying 2% Velocity Step Technique with various loads accoding to exemplary embodiment
Cross-coupling effect, Fig. 5 (b) shows the oscillatory response observed in speed loop；
Fig. 6 (a) and Fig. 6 (b) shows the feelings of the response of generating set accoding to exemplary embodiment with application 100kW load
The comparison of condition, Fig. 6 (a) show that voltage responsive and Fig. 6 (b) show speed responsive, (being identified as " proposition ")；
Fig. 7 (a) and Fig. 7 (b) show accoding to exemplary embodiment with tradition AVR scheme and propose including FLC and
The generator voltage and alternator speed ω 52 of the integrated control scheme (being identified as " proposition ") of LAC load 100kW suddenly
The comparison of the response of inhibition；
Fig. 8 (a) shows use tradition AVR scheme and three kinds of different novel controls accoding to exemplary embodiment with Fig. 8 (b)
Scheme processed (traditional AVR and only FLC, with only LAC, with have FLC and LAC (being identified as " proposition ")) generator voltage and
Alternator speed ω 52 loads the comparison of the response of application to 100kW suddenly；
Fig. 9 be according to various embodiments disclosed herein be suitable for using FLC and LAC subsystem and method system and
The block diagram of the computer system of method.
Specific embodiment
It is described below and is substantially merely exemplary, it is no intended to limit the application or purposes of the disclosure or the disclosure.
Inventor developed a kind of efficient system and method coordinate and integrate voltage and velocity control loop it
Between interaction, to minimize cross-couplings item.That application discloses a kind of integrated control system 70 as shown in Figure 2,
The cross-couplings item between voltage and velocity control loop is decoupled in application nominal load.Fig. 2 shows integrated control systems
System 70 measures the variation of actual power and adds the feed-forward signal proportional to the variation of actual power during transient condition
To adjuster error summing junction.
Fig. 2 and Fig. 3 show integrate including being suitable for the invention integrated control system and the computer implemented of method
The schematic diagram of control system 70.Each box in Fig. 2 and Fig. 3 indicates the transmission function of Laplace operator form.Below
For in the description of Fig. 2 and Fig. 3, part or function of the described transmission function box by the physical system represented by these boxes
Energy or effect are quoted by the function of software.
Fig. 2 shows modified feedback linearization control (FLC) for removing to cross-couplings item in voltage regulation loop
System 72, and expected control (LAC) subsystem 74 of load for being effectively reduced alternator speed ω 52.Fig. 2 shows that
The signal path and traditional voltage and speed control system of this integrated FLC subsystem 72 and LAC subsystem 74.
Integrated control system 70 can by individually, with FLC subsystem 72 in combination, with LAC subsystem 74 in combination or with FLC
System 72 and LAC subsystem 74 are run in combination.
In general, the FLC subsystem 72 quoted in Fig. 2 and Fig. 3 (a) be used to eliminate the non-linear of voltage regulation loop, because
For generator voltage Vt36 is proportional to the alternator speed ω 52 of constant excitation.If eliminated by alternator speed ω's 52
Voltage deviation caused by changing, then it is non-linear as caused by alternator speed ω 52 to be eliminated.If 22 feedback signal of AVR with
It is divided by the generator voltage V of per unit alternator speed ω 52 sensedt36 are used together, then the target may be implemented.
The generator voltage V sensedt36 can be determined by any mode known in the art.Because of voltage and speed control ring
Road is decoupled by FLC subsystem 72, it is possible to adjust from voltage and speed loop obtains linear response.
FLC subsystem 72 is realized by modifying the generator voltage of 22 feedback path of AVR, as shown in Fig. 3 (a).When applying
When adding constant excitation, generator voltage Vt36 is proportional to alternator speed ω 52.Therefore, if 22 feedback signal of AVR with
The generator voltage Vt36 for being divided by the alternator speed ω 52 of per unit measurement is used together, then is eliminated by generator
Voltage deviation caused by the variation of speed omega 52.With time constant TFLIt is moved with the low-pass filter 76 of Laplace operator " S "
Except generator voltage VtMeasurement noise in 36.The time constant T of low-pass filter 76FLIt is confirmed as in voltage step response
About 1 the percent of time are risen, value range is 0 to 0.1 second.The power generation in test that 0.01 value be used to be discussed below
Unit.Generator voltage V through filteringt36 are shown as " x " in Fig. 3 (a).Low-pass filter 76 is also possible to finite impulse
Respond (FIR) filter, higher order filter or Butterworth type low-pass filter.It would be recognized by those skilled in the art that can be with
Using the other kinds of filter of such as bandpass filter, and other controlling parties of such as fuzzy logic control can be used
Case obtains similar result without departing from the scope of the present disclosure.
Since alternator speed ω 52 is slowly varying, time constant T is hadFLWith the low-pass filtering of Laplace operator " S "
Device 78 removes the measurement noise in alternator speed ω 52.The time constant T of low-pass filter 78FLIt is confirmed as voltage step
About 1 the percent of rise time are responded, value range is 0 to 0.1 second.In the test that 0.01 value be used to be discussed below
Generating set.Although low-pass filter 76 and low-pass filter 78 are shown as using identical time constant in Fig. 3 (a)
TFL, but those skilled in the art will appreciate that different time constant value can be used without departing from the disclosure in these filters
Range.Low-pass filter 78 is also possible to finite impulse response (FIR) (FIR) filter, higher order filter or Butterworth type low pass
Filter.It would be recognized by those skilled in the art that the other kinds of filter of such as bandpass filter, Yi Jike can be used
Similar result is obtained without departing from the scope of the present disclosure to use other control programs of such as fuzzy logic control.
Alternator speed ω 52 through filtering is shown as " y " in Fig. 3 (a).Filtered generator voltage Vt36 remove
With the 80 alternator speed ω 52 through filtering, to generate feedback linearization generator voltage Vt_FLC84, and it is directed toward enabled box
82。
Using with time constant TW1Washout filter (washout filter) 100 determine generator actual power
Change rate (Δ Pe188).Time constant TW1It is confirmed as about 1 the percent of the required voltage loop rise time, recommendation 0
By 0.1 second.The generating set in test that 0.01 value be used to be discussed below.Those skilled in the art will appreciate that in addition to punching
The method except filter is lost, such as with numerical differentiation (such as Δ Pe=[P (t)-P (t-Ts)]/Ts, wherein TsWhen being sampling
Between, Δ PeIndicate the change rate of actual power) low-pass filter, such as fuzzy logic control.
Next, as shown in Fig. 3 (a), by Δ P at 92e190 absolute value and programmable parameter Δ Pe_THRESHOLD 94
Be compared, can per unit it is per second 0 to 10 in the range of.The generating set in test that value 2 be used to be discussed below.
If Δ Pe190 are greater than Δ Pe_THRESHOLD94, then it is true for enabling output 94.If Δ Pe190 are not more than Δ
Pe_THRESHOLD94, then it is false for enabling output 94.Therefore, it when the change rate of generator actual power is greater than programmable amount, opens
With FLC subsystem 72.FLC subsystem 72 is only activated during the transient state that actual power load increaseds or decreases, to avoid working as
Voltage when alternator speed ω 52 under stable situation changes from normal speed adjusts error.When enabling FLC subsystem 72,
Feedback linearization generator voltage Vt_FLC84 serve as from the voltage feedback signal for enabling the transmission of box 96, and therefore from FLC subsystem
System 72 is sent to the summation 105 of Fig. 2.When FLC subsystem 72 is not activated, generator voltage Vt36 serve as from enabling side
The voltage feedback signal that frame 96 is sent, and the summation 105 of Fig. 2 is therefore sent to from FLC subsystem 72.Those skilled in the art will
The control loop design of substitution is recognized, so that voltage error signal is Verr=Vref–VtOr Verr=Vref–Vt_filtered/
w_filterd, or it is represented by Verr=k1*(Vref–Vt)+k2*(Vref–Vt_filtered/w_filtered), wherein k1And k2It is adjusted
It is similar with control loop shown in Fig. 2 as a result, without departing from the scope of the present disclosure to obtain.
Expected control (LAC) subsystem 74 of the load quoted in Fig. 2 and Fig. 3 (b) includes the spy for integrated control system
Sign, with improve the generating set actual power disclosed in following publication load unexpected increase when speed ability:
Kiyong Kim and Jeff Burnworth, " Load Anticipation Feature and Its Tuning Method
for a Diesel Generating Set",2016 Clemson University Power Systems
Conference, Clemson SC USA, the U.S. Provisional Patent Application No.62/ that on July 24th, 2016 and 2014 submits
On August 5th, the 028,653 and 2014 U.S. Provisional Application No.62/033,482 submitted and U.S. Non-provisional Patent application
No.14/718504, entitled " System And Method For A Load Anticipation Feature And Its
Tuning Method For A Generating Set ", and the United States Patent (USP) No.9 authorized from the provisional application, 574,
511；It is all these all incorporated herein by reference.Governor 30 is to the reaction due to velocity variations caused by loading application
It is slower than the variation due to caused by actual power.It can be used in the AVR that actual power measurement is known in the art.Therefore, in order to answer
Reduce velocity deviation when being loaded with big actual power, LAC 74 is set than changing voltage regulator based on specific under-frequency curve
The conventional method of point is more efficient.
Turning now to the more specific discussion of LAC subsystem 74, LAC subsystem 74 is repaired with the controller as governor 30
The FLC subsystem 72 for changing device interacts.Using with time constant TW2With the Washout filter 100 of Laplace operator " S "
Obtain the change rate Δ P of actual powere2101.Based on velocity control loop in response to determining that time constant TW2, value range is from 0
To 1.0.The generating set in test that 0.4 value be used to be discussed below.
Actual power change rate (the Δ P as caused by governor and actuatore2101) delayed phase with phase by surpassing
Preceding constant TLD, lag time constant TLGIt is compensated with the lead-lag filter 102 of Laplace operator " S ".Then by the compensation
Signal is multiplied by gain KLAF104.Then the signal after the multiplication is added to governor summing junction 130 (see Fig. 2), to be used
The speed offset signal (can be used in modern voltage regulator) of simulation output.
Time constant TLDIt is the phase leading time constant of lead-lag filter 102, and indicates the advanced friendship of phase
Time constant more at frequency (cross-over frequency).Its value is responded depending on velocity control loop, Yi Jiqi
It is worth range from 0 to 1.0.The generating set in test that 0.5 value be used to be discussed below.
Time constant TLGIt is the phase lag times constant of lead-lag filter 102, and indicates the friendship of delayed phase
Time constant more at frequency.It is determined based on velocity control loop response and its value range is from 0 to 1.0.0.01 value
The generating set in test that be used to be discussed below.
102 time constant of lead-lag filter and the preferred value of gain are Tw2=0.4, TLD=0.5, TLG=0.01 He
KLAF=0.7.
Computer operation environment
With reference to Fig. 9, for AVR or governor including LAC as described herein (LAF) system and method system and/
Or the operating environment of the illustrated embodiment of method is with (including at least one the high-speed central processing unit (CPU) of computer 202
204, in conjunction with storage system 206), the computer system 200 of input equipment 210 and output equipment 212.These elements are by extremely
Few bus structures 208 interconnect.In alternative embodiments, LAF system and method can be at independent operating (stand-alone)
It is realized in equipment, or in another component being incorporated into the system that the operating environment just described is provided.
Computer 202 may include the input number for receiving the measurement for the actual power load for being applied to diesel generating set
According to interface, and it is operatively coupled to the communication interface of the communication interface of governor 30.The communication interface of computer 202 can will be controlled
System output is transmitted to the communication interface of governor 30.
As described above, input and output device may include the communication interface for including graphical user interface.Network interface and
Any or all of communication system and method computer module can be any calculating equipment, electricity including but not limited on knee
Brain, PDA, cellular/and possible special equipment.Software can be implemented as any " app " thereon, and still exist
In the scope of the present disclosure.
Shown in CPU 204 be known design, and include for execute calculate arithmetic logic unit (ALU) 214,
The set of registers 216 of scratchpad memory for data and instruction and the control of the operation for controlling computer system 200
Unit 218 processed.For CPU 204, any one of various microprocessors also, it is preferred that but not limited to this.Implementation shown in this
Example operates in the operating system for being designed to may migrate to any of these processing platforms.
The high-speed main memory 220 that storage system 206 is generally included with form of medium, such as non-transient computer can
Typical random access memory (RAM) and read-only memory (ROM) semiconductor equipment in recording medium.The present disclosure is not limited to
This, and can also include the secondary storage device 222 in the form of long-term storage media, such as floppy disk, hard disk, tape, CD-
ROM, flash memory etc., and using electricity, magnetically and optically or the other equipment of other recording medium storing datas.In some embodiments,
Main memory 220 can also include the video display memory for showing image by display equipment (not shown).This field
Those of it will be recognized that storage system 206 may include having the various replacement assemblies of various memory capacity.
Under applicable circumstances, input equipment 210 and output equipment 212 can also in system as described herein or in fact
It applies in example and provides.Input equipment 210 may include any keyboard, mouse, physical transducers (such as microphone), and can be through
By such as graphical user interface with it is above-mentioned include that the communication interface of the antennal interface for wireless communication is associated or separate
Input interface 224 is interconnected to computer 202.Output equipment 212 may include display, printer, energy converter (such as loudspeaking
Device) etc., and computer 202 is interconnected to via the output interface 226 that may include the above-mentioned communication interface including antennal interface.
Certain equipment of such as network adapter or modem can be used as inputting and/or outputting equipment.
As known to those skilled in the art, computer system 200 further includes operating system and at least one is answered
Use program.Operating system is the operation for controlling computer system and the software assembly of resource allocation.Application program is using passing through
Computer resource obtained by operating system executes system and method and/or any of above process and the process steps institute of LAF
The software assembly of desired task.
According to the practice of the technical staff in computer programming field, below with reference to the operation executed by computer system 200
Symbol indicate to describe the disclosure.These operations are sometimes referred to as what computer executed.It should be appreciated that the behaviour that indicates of symbol ground
Make to include the number at the memory location in the manipulation and storage system 206 of the electric signal of 204 pairs of CPU expression data bits
According to the maintenance of bit and other processing of signal.The memory location for maintaining data bit is that have to correspond to data bit
Specific electricity, magnetically or optically characteristic physical location.One or more embodiments can be realized in a tangible form by that can deposit
In the program that the computer executable instructions of storage on a computer-readable medium define.Computer-readable medium can be knot above
Close the combination of any equipment or equipment that storage system 206 describes.
Test result
In order to show that its efficiency and applicability, integrated control system 20 are implemented as small power generation in industrial environment
The commercial voltage regulator of unit (being less than 10MVA) exploitation.Such cost-benefit adjuster has limited memory and meter
Calculation ability.This voltage regulator based on microprocessor includes for generator voltage, electric current and pulse width modulation (PWM)
The signal conditioning circuit of adjuster output.After frequency overlapped-resistable filter, with 12 bit resolutions to generator voltage and electric current
It is sampled.The per quart period (being 4.16 milliseconds for 60 hertz systems) executes the root mean square calculation of generator voltage.
The disclosed system and method proposed are used with 125kVA, 208Vac, 1,800rpm three-phase synchronous generator
Commercial digital adjuster on turbo-charging diesel generating set is tested.The unloaded excitation of the generator is by self-excitation
0.3Adc, 7Vdc, ac exciter provide.
Use IEEE type AC8B excitation system.Its PID gain is KPR=5, KIR=10, KDR=0.2, TDR=0.01 and KA
=0.2.Also select the under-frequency roll-off characteristic of standard.
In order to study cross-coupling effect, when connect load when using 5% voltage step.In figures 4 and 5, " P " and
" Q " respectively represents the well-known symbol of actual power and reactive power.Alternator speed does not have when Fig. 4 shows non-application load
It changes.However, when the load is applied, cross-coupling effect can be in voltage loop (Fig. 4-a) and speed loop (Fig. 4-b) all
It causes to vibrate.
Fig. 5 shows the generator for having load to connect when applying 2% Velocity Step Technique to the adjustment of governor set point
Voltage and alternator speed ω 52 are responded.It is good that the speed responsive of non-loaded application reveals governor tuning (tune).However, working as
When application load, oscillatory response is observed in voltage loop (Fig. 5 (a)) and speed loop (Fig. 5 (b)).These oscillations are obvious
It is as caused by cross-couplings item.
Fig. 6 (a) and Fig. 6 (b) shows the integrated control with the disclosure with traditional (prior art) AVR system and method
The generator voltage and alternator speed ω 52 of system and method load the comparison of the response of application to 100kW suddenly.Fig. 6 (b)
It shows, for this specific 100kW load current step, using traditional AVR, it is more than maximum allowable that alternator speed ω 52, which deviates,
The ISO8528-5G2 limit.This is proved, compared with traditional AVR system and method, using this integrated control system and method,
52 deviation of maximum voltage and alternator speed ω can be significantly reduced.
Fig. 7 (a) and Fig. 7 (b), which is presented, uses traditional (prior art) AVR system and method, with integrated control of the invention
System and method, when 100kW is loaded suddenly to be suppressed, the comparison of generator voltage and the response of alternator speed ω 52.Obviously,
The integrated control system and method for the application is better than the prior art, and load is inhibited to be effective.
Fig. 8 (a) and Fig. 8 (b), which is shown, uses traditional (prior art) AVR scheme control system different from three kinds and method,
Generator voltage and alternator speed ω 52 load the comparison of the response of application to 100kW suddenly.Fig. 8 shows LAC and oscillation
Behavior effectively reduces the proof of velocity deviation.This is because FLC can reduce coupling effect.When the LAC and FLC of the disclosure are controlled
System is all by use, obtain optimal voltage and speed ability.
Load test results discussed above show that the integrated control system and method for the disclosure of applicant are easy real
The improved response of existing 52 deviation of generator voltage and alternator speed ω.Due to cross-coupling effect, serious offense is may be implemented in FLC
The improved damping of punching.After load varies widely, LAC effectively improves the recovery of alternator speed ω 52.The disclosure
Integrated control system and method the power generation that the generator voltage that enhances during transient state adjusts and has relatively large load step is provided
Unit load receives performance.
Using the integrated control system and method for the disclosure, the hair to manufacture can be rapidly completed with excellent results of property
The debugging of the Factory load Acceptance Test of motor group.
Therefore, foregoing disclosure discloses multiple system and method, can be by specific time or specific setting
In any particular system or method used there may be or various elements and the step composition that may be not present, and it is therefore public
Many arrangements of system and method are opened.Aforementioned disclosure allows the variation and selection of the feature, element and step depending on user.
Claims (30)
1. a kind of method for controlling diesel generating set, the diesel generating set include diesel engine, there is end electricity
The generator of pressure and generator output voltage magnitude and frequency response, the exciter with exciter excitation voltage have power generation
The governor of machine speed reference and the first communication interface, and the automatic voltage with generator reference voltage and the second communication interface
Adjuster, described method includes following steps:
Voltage Feedback control output is determined based on the end voltage of generator by the speed of generator by automatic voltage regulator
Voltage；
By automatic voltage regulator, excitation is controlled by controlling output voltage modification generator reference voltage by Voltage Feedback
Machine excitation voltage；
The actual power output of generator is measured by automatic voltage regulator；
The change rate of generator actual power output is determined by automatic voltage regulator；
Determine that speed feedback control is exported based on the change rate that generator actual power exports by automatic voltage regulator；
Speed feedback control output is transmitted to by governor by the first communication interface by automatic voltage regulator；
The speed feedback control output from automatic voltage regulator is received by governor；
By governor, by based on speed feedback control output modifications alternator speed with reference to come the speed that adjusts diesel engine
Degree；With
By automatic voltage regulator, is exported by determining that speed feedback control output is controlled together with Voltage Feedback, minimize phase
For the generator output voltage magnitude of nominal value and the variation of frequency response.
2. the method as described in claim 1, wherein by automatic voltage regulator by the speed of generator based on generator
End voltage is further comprising the steps of to determine the step of Voltage Feedback controls output voltage:
Measure the end voltage of the generator of diesel generating set；
Measure the speed of the generator of diesel generating set；
The end voltage of generator is filtered；
The speed of generator is filtered；With
By automatic voltage regulator, determined by the speed of filtered generator based on the end voltage of filtered generator
Voltage Feedback controls output voltage.
3. the method as described in claim 1, wherein the change exported by automatic voltage regulator based on generator actual power
Rate is come further comprising the steps of the step of determining speed feedback control output:
Measure the actual power output of generator；
By being filtered the change rate to determine the output of generator actual power to the generator actual power output of measurement；With
The change rate to determine the output of generator actual power is filtered by the change rate exported to generator actual power
Delayed phase.
4. the method as described in claim 1 further comprises the steps of:
The absolute value and predetermined threshold of the change rate exported from generator actual power generate enabled output, wherein when generator reality
When the absolute value of the change rate of border power output is more than predetermined threshold, otherwise it is false that the enabled output, which is true,；With
When enabled output is fictitious time, blocking voltage feedback control output voltage.
5. method according to claim 2, wherein the end voltage to generator further comprises the step of being filtered, with from
The filter selected in low-pass filter or bandpass filter is filtered the end voltage of generator.
6. method according to claim 2, wherein the speed to generator further comprises the step of being filtered, with from low
The filter selected in bandpass filter or bandpass filter is filtered the speed of generator.
7. method according to claim 2 uses wherein the end voltage to generator further comprises the step of being filtered
Fuzzy logic control determines the end voltage of filtered generator.
8. method according to claim 2, wherein the speed to generator further comprises using mould the step of being filtered
Fuzzy logic controls the speed to determine filtered generator.
9. method as claimed in claim 3, wherein being filtered by the change rate exported to generator actual power come really
The step of determining the delayed phase of the change rate of generator actual power output includes, with lead-lag filter to generator reality
The change rate of power output is filtered.
10. method as claimed in claim 3, wherein being determined by being filtered to the generator actual power output of measurement
The step of change rate of generator actual power output, includes, with the filter selected from Washout filter or low-pass filter
The generator actual power output of measurement is filtered.
11. method as claimed in claim 3, wherein being determined by being filtered to the generator actual power output of measurement
The step of change rate of generator actual power output includes that current value and generator based on the output of generator actual power are real
Numerical differentiation of the preceding value of border power output based on the sampling time.
12. method as claimed in claim 3, wherein being filtered by the change rate exported to generator actual power come really
The step of determining the delayed phase of the change rate of generator actual power output includes determining filtering using fuzzy logic control
The change rate of generator actual power output.
13. method as claimed in claim 3, wherein being determined by being filtered to the generator actual power output of measurement
The step of change rate of generator actual power output includes that the power generation of filtered measurement is determined using fuzzy logic control
The output of machine actual power.
14. a kind of method for controlling diesel generating set, the diesel generating set includes diesel engine, generator,
Exciter with exciter excitation voltage, the governor with alternator speed reference, and there is generator reference voltage
Automatic voltage regulator, the described method comprises the following steps:
Measure the end voltage of the generator of diesel generating set；
Measure the speed of the generator of diesel generating set；
It is filtered by end voltage of the first low-pass filter with first time constant to generator；
The speed of generator is filtered by the second low-pass filter with the second time constant；
By automatic voltage regulator, by filtered generator rotation speed based on the end voltage of filtered generator come
Determine that Voltage Feedback controls output voltage；
It is encouraged by voltage regulator by controlling output voltage modification generator reference voltage by Voltage Feedback to control exciter
Magnetoelectricity pressure；
Measure the actual power output of generator；
By being filtered by generator actual power output of the Washout filter with washout time constant to measurement come really
Determine the change rate of generator actual power output；
By practical to generator by the lead-lag filter with phase leading time constant and phase lag times constant
The change rate of power output is filtered, come determine generator actual power output change rate delayed phase；
By automatic voltage regulator, predetermined gain is amplified by the delayed phase for the change rate for exporting generator actual power
To determine speed feedback control signal；
Speed feedback control output is transmitted to by governor by the first communication interface by automatic voltage regulator；
The speed feedback control output from automatic voltage regulator is received by governor；
By governor by based on speed feedback control output modifications alternator speed with reference to come the speed that adjusts diesel engine
Degree；
By automatic voltage regulator, is exported by determining that speed feedback control output is controlled together with Voltage Feedback, minimize phase
For the generator output voltage magnitude of nominal value and the variation of frequency response.
15. method as claimed in claim 14, further comprises step:
The absolute value and predetermined threshold of the change rate exported from generator actual power generate enabled output, wherein when generator reality
When the absolute value of the change rate of border power output is more than predetermined threshold, otherwise it is false that the enabled output, which is true,；With
When enabled output is fictitious time, blocking voltage feedback control output voltage.
16. a kind of system for controlling diesel generating set, the diesel generating set include diesel engine, there is end electricity
The generator of pressure and generator output voltage magnitude and frequency response, the exciter with exciter excitation voltage have power generation
The governor of machine speed reference and the first communication interface, and the automatic voltage with generator reference voltage and the second communication interface
Adjuster, the system comprises:
Computer data processor device is operatively coupled to the non-transitory computer comprising computer executable instructions and stores
Device, described instruction when executed by one or more processors so that one or more processors perform the following operation:
By automatic voltage regulator, Voltage Feedback control output is determined based on the end voltage of generator by the speed of generator
Voltage；
By automatic voltage regulator, excitation is controlled by controlling output voltage modification generator reference voltage by Voltage Feedback
Machine excitation voltage；
The actual power output of generator is measured by automatic voltage regulator；
The change rate of generator actual power output is determined by automatic voltage regulator；
Determine that speed feedback control is exported based on the change rate that generator actual power exports by automatic voltage regulator；
Speed feedback control output is transmitted to by governor by the first communication interface by automatic voltage regulator；
The speed feedback control output from automatic voltage regulator is received by governor；
By governor, by based on speed feedback control output modifications alternator speed with reference to come the speed that adjusts diesel engine
Degree；
By automatic voltage regulator, is exported by determining that speed feedback control output is controlled together with Voltage Feedback, minimize phase
For the generator output voltage magnitude of nominal value and the variation of frequency response.
17. system as claimed in claim 16, wherein the computer executable instructions are held by one or more processors
Make one or more of processors when row:
Measure the end voltage of the generator of diesel generating set；
Measure the speed of the generator of diesel generating set；
The end voltage of generator is filtered；
The speed of generator is filtered；With
By automatic voltage regulator, determined by the speed of filtered generator based on the end voltage of filtered generator
Voltage Feedback controls output voltage.
18. system as claimed in claim 16, wherein the computer executable instructions are held by one or more processors
Make one or more of processors when row:
Determine the actual power output of generator；
By being filtered the change rate to determine the output of generator actual power to the generator actual power output of measurement；With
The change rate to determine the output of generator actual power is filtered by the change rate exported to generator actual power
Delayed phase.
19. system as claimed in claim 16, wherein the computer executable instructions are held by one or more processors
Make one or more of processors when row:
The absolute value and predetermined threshold of the change rate exported from generator actual power generate enabled output, wherein when generator reality
When the absolute value of the change rate of border power output is more than predetermined threshold, otherwise it is false that the enabled output, which is true,；With
When enabled output is fictitious time, blocking voltage feedback control output voltage.
20. system as claimed in claim 17, wherein with the filter pair selected from low-pass filter or bandpass filter
The end voltage of generator is filtered.
21. system as claimed in claim 17, wherein with the filter pair selected from low-pass filter or bandpass filter
The speed of generator is filtered.
22. system as claimed in claim 17, wherein determining the end voltage of generator, using fuzzy logic control with determination
The end voltage of filtered generator.
23. system as claimed in claim 17, wherein the speed to generator is using fuzzy logic the step of being filtered
It controls to determine.
24. system as claimed in claim 18, wherein the variation exported with lead-lag filter to generator actual power
Rate is filtered.
25. system as claimed in claim 18, wherein with the filter pair selected from Washout filter or low-pass filter
The generator actual power output of measurement is filtered.
26. system as claimed in claim 18, wherein real from the current value and generator exported based on generator actual power
Numerical differentiation of the preceding value of border power output based on the sampling time, the generator actual power to determine filtered measurement are defeated
Out.
27. system as claimed in claim 18, wherein determining the output of generator actual power using fuzzy logic control
The delayed phase of change rate.
28. system as claimed in claim 18, wherein determining the generator of filtered measurement using fuzzy logic control
Actual power output.
29. a kind of system for controlling diesel generating set, the diesel generating set includes diesel engine, generator,
Exciter with exciter excitation voltage, the governor with alternator speed reference, and there is generator reference voltage
Automatic voltage regulator, the system comprises:
Computer data processor device is operatively coupled to the non-transitory computer comprising computer executable instructions and stores
Device, described instruction when executed by one or more processors so that one or more processors perform the following operation:
Measure the end voltage of the generator of diesel generating set；
Measure the speed of the generator of diesel generating set；
It is filtered by end voltage of the first low-pass filter with first time constant to generator；
The speed of generator is filtered by the second low-pass filter with the second time constant；
By automatic voltage regulator, by filtered generator rotation speed based on the end voltage of filtered generator come
Determine that Voltage Feedback controls output voltage；
By voltage regulator, encouraged by controlling output voltage modification generator reference voltage by Voltage Feedback to control exciter
Magnetoelectricity pressure；
Measure the actual power output of generator；
By being filtered by generator actual power output of the Washout filter with washout time constant to measurement come really
Determine the change rate of generator actual power output；
By practical to generator by the lead-lag filter with phase leading time constant and phase lag times constant
The change rate of power output is filtered, come determine generator actual power output change rate delayed phase；
By automatic voltage regulator, predetermined gain is amplified by the delayed phase for the change rate for exporting generator actual power
To determine speed feedback control signal；
Speed feedback control output is transmitted to by governor by the first communication interface by automatic voltage regulator；
The speed feedback control output from automatic voltage regulator is received by governor；
By governor, by based on speed feedback control output modifications alternator speed with reference to come the speed that adjusts diesel engine
Degree；
By automatic voltage regulator, is exported by determining that speed feedback control output is controlled together with Voltage Feedback, minimize phase
For the generator output voltage magnitude of nominal value and the variation of frequency response.
30. system as claimed in claim 29, wherein the computer executable instructions are held by one or more processors
Make one or more of processors when row:
The absolute value and predetermined threshold of the change rate exported from generator actual power generate enabled output, wherein when generator reality
When the absolute value of the change rate of border power output is more than predetermined threshold, otherwise it is false that the enabled output, which is true,；With
When enabled output is fictitious time, blocking voltage feedback control output voltage.
Applications Claiming Priority (3)
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| US201662299774P | 2016-02-25 | 2016-02-25 | |
| US62/299,774 | 2016-02-25 | ||
| PCT/US2017/019745 WO2017147595A1 (en) | 2016-02-25 | 2017-02-27 | System and method for an integrated control system for a diesel generating set |
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| CN109075729A true CN109075729A (en) | 2018-12-21 |
| CN109075729B CN109075729B (en) | 2022-06-14 |
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| CN201780023296.0A Active CN109075729B (en) | 2016-02-25 | 2017-02-27 | System and method for integrated control system of diesel generator set |
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| US (1) | US10498271B2 (en) |
| EP (1) | EP3420632B1 (en) |
| CN (1) | CN109075729B (en) |
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| CN111344477A (en) * | 2017-11-29 | 2020-06-26 | 本田技研工业株式会社 | Engine generator |
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| CN113027621B (en) * | 2021-03-31 | 2022-09-23 | 潍柴动力股份有限公司 | Engine speed control method and related device |
| EP4148974A1 (en) * | 2021-09-13 | 2023-03-15 | Liebherr-Components Colmar SAS | A controller for controlling an electrical power supply system |
| CN115628141A (en) * | 2022-11-10 | 2023-01-20 | 上海昱章电气股份有限公司 | Speed control circuit and system for diesel generating set |
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- 2017-02-27 EP EP17711840.3A patent/EP3420632B1/en active Active
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- 2017-02-27 DK DK17711840.3T patent/DK3420632T3/en active
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| US10498271B2 (en) | 2019-12-03 |
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| PL3420632T3 (en) | 2022-10-03 |
| WO2017147595A1 (en) | 2017-08-31 |
| EP3420632A1 (en) | 2019-01-02 |
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